Stockholders' Equity - Schedule of Stock-based Compensation Expense (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Class Of Stock [Line Items]
Stock-based compensation	$ 3,675	$ 3,842	$ 7,289	$ 7,474
Research and Development Expense
Class Of Stock [Line Items]
Stock-based compensation	1,550	1,398	3,001	2,698
General and Administrative Expense
Class Of Stock [Line Items]
Stock-based compensation	$ 2,125	$ 2,444	$ 4,288	$ 4,776